Two-degree-of-freedom hybrid stepping motor with orthogonal cylindrical structure for robots

A technology of stepping motors and degrees of freedom, applied in the direction of electromechanical devices, electric components, magnetic circuit shape/style/structure, etc., can solve the problems of large overall volume and weight of the motor, high open-loop positioning accuracy, and difficult processing technology, etc. Achieve the effects of high mechanical integration and material utilization, simplified electromagnetic calculation and performance analysis, and simple mechanical connection structure
CN106341024BInactive Publication Date: 2018-08-14SHANDONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANDONG UNIV
Publication Date
2018-08-14
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a two-degree-freedom mixed type stepping motor with an orthogonal cylindrical structure for a robot. The two-degree-freedom mixed type stepping motor comprises a first-degree-freedom motor, a second-degree-freedom motor and an output shaft, wherein the first-degree-freedom motor is of a cylindrical structure, the first-degree-freedom motor rotates about a rotating axis which is the diameter direction of the bottom of the cylindrical structure, the second-degree-freedom motor is of a cylindrical structure and is arranged on the outer edge of the first-degree-freedom motor, the shaft center of the second-degree-freedom motor is vertically orthogonal to the shaft center of the first-degree-freedom motor, the second-degree-freedom motor rotates about a rotating axis which is the shaft center of the first-degree-freedom motor, and the second-degree-freedom motor retains independent movement relative to the first-degree-freedom motor during the rotating process of the first-degree-freedom motor, so that the output shaft arranged on the outer side of the second-degree-freedom motor realizes two-degree-freedom movement. The research and development period of a product is shortened, and the performance of the product is improved. Practical utilization, industrialization and commercialization of multi (two)-degree-freedom motor are further facilitated.
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Description

technical field

[0001] The invention relates to a two-degree-of-freedom hybrid stepping motor with an orthogonal cylindrical structure for a robot. Background technique

[0002] Robots have developed rapidly in recent years and can replace people to perform some difficult, dangerous or harmful tasks to human health. However, traditional asynchronous motors and synchronous motors only have the degree of freedom of rotor rotation, which can be achieved through the cooperation of gears or worms. Turn this rotational motion into a linear motion. In many occasions, linear or rotary motion is sufficient to meet the needs of the controlled object; but in some more complex motion occasions or tasks (such as the control of robot arms, positioning control of radar, etc.), the robot needs to perform flexible actions, a free The speed cannot meet the needs, and the cooperation of multiple motors is necessary to achieve the goal. However, if the control is implemented by multiple motor...

Claims

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